4-12
Rev.1.00
3)Change command code 10h to 17h.
4)The servo driver starts profile operation as command code 10h changes to 17h,
accelerates operation (starts operation) according to Pr8.01 “Profile linear acceleration
constant” to reach Pr8.13 “Profile home position return velocity 1”. Note that upon starting
the profile operation, Homing_Complete is set to 0.
5)The host controller checks that command code echo is 17h, Type_Code echo is 32h
and status In_Progress is 1, and no command error has been generated, and homing
operation has started. If command error is detected, the controller should take appropriate
countermeasure according to the error code.
6)When HOME sensor turns on, start deceleration according to Pr8.04 “Profile linear
deceleration constant” to stop.
7)At the stop position, start movement in the direction opposite to the homing at the speed
specified by Pr8.13.
8)When HOME sensor turns on and then OFF edge is detected, start deceleration at the
rate specified by Pr8.04.
9)At the stop position, start movement in the homing direction, accelerating according
to Pr8.14 “Profile home position return velocity 2”, and stop at the position where HOME
sensor ON (rising edge) is detected.
▪
Actually, detected position is determined by repositioning.
10)Initialize the position information so that the detected HOME sensor rising edge is at 0
and Homing_Complete becomes 1, and profile homing is finished.
■
Precautions
• Set Pr8.14 “Profile home position return velocity 2” to the lowest possible velocity.
Higher velocity may cause error due to delay in reading.
• HOME sensors should be so arranged that once they detect something, nothing will
pass through them until deceleration and stop complete.
• Other non-cyclic commands except for homing commands may be executed during
operation (until Homing_Ccomplete becomes 1) while maintaining profile operation.
However, do not change the operation mode (Type_Code, Latch_Sel1 of profile
command), otherwise, Err91.1 “RTEX command error protection” and command error
(0104h) will occur.
• If there is an Err 94.2 ( Origin reset exceotion protection ) in POT/NOT in the same
direction as the origin reset direction in profile origin reset 2(HOME), cancel the home
reset processing. When the driver disable input function is not used, do not driver the
input of the prohibited input at the general purpose input. Only Pr5.04=1 is invalid.
2.Homing Operation
Profile Homing Operation
Summary of Contents for MINAS A6N Series
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